WO2016056678A1 - Machine de construction, et procédé de commande de machine de construction - Google Patents

Machine de construction, et procédé de commande de machine de construction Download PDF

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Publication number
WO2016056678A1
WO2016056678A1 PCT/JP2015/082632 JP2015082632W WO2016056678A1 WO 2016056678 A1 WO2016056678 A1 WO 2016056678A1 JP 2015082632 W JP2015082632 W JP 2015082632W WO 2016056678 A1 WO2016056678 A1 WO 2016056678A1
Authority
WO
WIPO (PCT)
Prior art keywords
cylinder
boom
deceleration
deceleration section
movable range
Prior art date
Application number
PCT/JP2015/082632
Other languages
English (en)
Japanese (ja)
Inventor
吉朗 岩崎
市原　将志
Original Assignee
株式会社小松製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社小松製作所 filed Critical 株式会社小松製作所
Priority to US15/102,648 priority Critical patent/US9834908B2/en
Priority to DE112015000238.3T priority patent/DE112015000238B4/de
Priority to JP2016510862A priority patent/JP6001808B2/ja
Priority to CN201580003299.9A priority patent/CN105874131B/zh
Priority to PCT/JP2015/082632 priority patent/WO2016056678A1/fr
Priority to KR1020167015052A priority patent/KR101855970B1/ko
Publication of WO2016056678A1 publication Critical patent/WO2016056678A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E02F9/2267—Valves or distributors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2214—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing the shock generated at the stroke end
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/18—Counterweights
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45012—Excavator

Definitions

  • the present invention relates to a work machine and a control method for the work machine.
  • Patent Document 1 In the technical field related to work machines, backhoes as disclosed in Patent Document 1 are known.
  • the backhoe disclosed in Patent Literature 1 gradually decelerates with a predetermined deceleration characteristic preset in the vicinity of the start end stop position in the startup posture of the boom, and the boom is raised by an operation lever that operates the boom.
  • a cushion control device is provided that automatically stops at the starting end stop position regardless of the operation.
  • the boom is stopped by operating the operation lever neutrally to stop the boom in the middle of the deceleration range in which the vehicle is decelerating with the deceleration characteristic of the cushion control device, and then lifting the boom with the operation lever.
  • the boom is slowly increased to the speed based on the deceleration characteristics, and when the boom ascent speed reaches the speed based on the deceleration characteristics, the boom gradually increases according to the deceleration characteristics.
  • the vehicle is decelerated and automatically stopped at the boom end stop position.
  • An object of an aspect of the present invention is to provide a work machine and a work machine control method capable of suppressing a decrease in work efficiency.
  • a hydraulic cylinder that drives the work implement in a movable range, a detection device that detects the posture of the work implement, and an operation signal when the operation of the work implement is performed is detected.
  • a control valve capable of adjusting the amount of hydraulic oil supplied to the hydraulic cylinder, and the operation signal detected by the operation signal detection unit
  • a setting unit that sets a deceleration rate of the work implement, and outputs a command signal to the control valve so that the work implement moves from the stop position to the end position based on the deceleration zone and the deceleration rate.
  • Working machine comprising a control unit, is provided.
  • the posture of the working machine driven in the movable range by the hydraulic cylinder is detected, and the working machine starts to move at the stop position of the movable range based on the operation of the working machine.
  • the deceleration section including the end position of the movable range and the deceleration section in the deceleration section Set the deceleration rate of the work implement, and adjust the amount of hydraulic oil supplied to the hydraulic cylinder so that the work implement moves from the stop position to the end position based on the deceleration zone and the deceleration rate
  • a command signal is output to a control valve, and a method for controlling a work machine is provided.
  • a work machine and a work machine control method capable of suppressing a decrease in work efficiency are provided.
  • FIG. 1 is a perspective view showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 2 is a side view showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 3 is a side view schematically showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 4 is a schematic diagram illustrating an example of a hydraulic system according to the present embodiment.
  • FIG. 5 is a functional block diagram illustrating an example of a control system according to the present embodiment.
  • FIG. 6 is a diagram for explaining an example of the operation of the work machine according to the present embodiment.
  • FIG. 7 is a flowchart illustrating an example of a method for controlling the work machine according to the present embodiment.
  • FIG. 1 is a perspective view showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 2 is a side view showing an example of a hydraulic excavator according to the present embodiment.
  • FIG. 3 is a side view schematically
  • FIG. 8 is a diagram showing the relationship between the cylinder stroke and the gain according to the present embodiment.
  • FIG. 9 is a diagram illustrating the relationship between the cylinder stroke and the offset amount according to the present embodiment.
  • FIG. 10 is a diagram for explaining an example of the operation of the work machine according to the present embodiment.
  • FIG. 11 is a diagram for explaining an example of the operation of the work machine according to the present embodiment.
  • FIG. 1 is a perspective view illustrating an example of a work machine 100 according to the present embodiment.
  • FIG. 2 is a side view showing an example of the work machine 100 according to the present embodiment.
  • the work machine 100 is a hydraulic excavator (backhoe)
  • the work machine 100 is appropriately referred to as a hydraulic excavator 100.
  • a hydraulic excavator 100 supports a working machine 1 that operates by hydraulic pressure, a hydraulic cylinder 20 that drives the working machine 1, an upper swing body 2 that supports the work machine 1, and an upper swing body 2.
  • the lower traveling body 3 is provided.
  • the upper revolving unit 2 is capable of revolving around the revolving axis RX while being supported by the lower traveling unit 3.
  • the work machine 1 is supported by the upper swing body 2.
  • the work machine 1 includes a bucket 11, an arm 12 coupled to the bucket 11, and a boom 13 coupled to the arm 12.
  • the bucket 11 and the arm 12 are connected via a bucket pin.
  • the bucket 11 is supported by the arm 12 so as to be rotatable about the rotation axis AX1.
  • the arm 12 and the boom 13 are connected via an arm pin.
  • the arm 12 is supported by the boom 13 so as to be rotatable about the rotation axis AX2.
  • the boom 13 and the upper swing body 2 are connected via a boom pin.
  • the boom 13 is supported by the upper swing body 2 so as to be rotatable about the rotation axis AX3.
  • the rotation axis AX1, the rotation axis AX2, and the rotation axis AX3 are parallel to each other.
  • the rotation axes AX1, AX2, AX3 are orthogonal to the axis parallel to the turning axis RX.
  • the axial direction of the rotation axes AX1, AX2, AX3 is appropriately referred to as the vehicle width direction of the upper swing body 2, and the direction orthogonal to both the rotation axes AX1, AX2, AX3 and the rotation axis RX is appropriately determined. , Referred to as the front-rear direction of the upper swing body 2.
  • the hydraulic cylinder 20 drives the working machine 1 within the movable range of the working machine 1.
  • the hydraulic cylinder 20 is driven by the supplied hydraulic oil.
  • the hydraulic cylinder 20 includes a bucket cylinder 21 that drives the bucket 11, an arm cylinder 22 that drives the arm 12, and a boom cylinder 23 that drives the boom 13.
  • the bucket 11 can rotate around the rotation axis AX ⁇ b> 1 in the movable range of the bucket 11.
  • the arm 12 can rotate around the rotation axis AX ⁇ b> 2 within the movable range of the arm 12.
  • the boom 13 can rotate around the rotation axis AX3 in the movable range of the boom 13.
  • the upper-part turning body 2 includes a turntable 4, a counterweight 5, an equipment room 6, an engine room 7, and a cab 8 on which an operator is boarded.
  • the turntable 4 is supported by the lower traveling body 3 so as to be turnable.
  • the swivel 4 constitutes a body frame of the excavator 100.
  • the work machine 1 is attached to the swivel 4 in front of the equipment room 6.
  • the counterweight 5 is arranged behind the engine compartment 7.
  • the counterweight 5 is formed, for example, by putting iron, concrete, or the like in a box assembled from steel plates.
  • the counterweight 5 is provided at the rear part of the upper swing body 2 and is used for maintaining the vehicle body balance during excavation work or the like.
  • the equipment room 6 is arranged in front of the engine room 7.
  • the equipment room 6 accommodates a hydraulic oil tank, a fuel tank, and the like.
  • the engine room 7 is arranged behind the equipment room 6.
  • the engine chamber 7 houses an engine, an exhaust gas processing device, and the like.
  • the cab 8 is a cab in which an operator of the excavator 100 is boarded.
  • the cab 8 is provided in front of the engine chamber 7 and on the side of the work machine 1 so that the operator can see the movement of the work machine 1.
  • the lower traveling body 3 has a pair of crawlers 9 that can rotate independently of each other. As the crawler 9 rotates, the excavator 100 travels.
  • the lower traveling body 3 may be a wheel (tire).
  • the hydraulic excavator 100 is a so-called “backward small turning hydraulic excavator (defined by Japanese Industrial Standards (JIS A 8340-4)”, and the following formulas (1) and (2) are established.
  • the amount of the end of the counterweight 5 protruding from the lower traveling body 3 at the time of turning is set to a predetermined ratio or less with respect to the width of the lower traveling body 3.
  • the “rear end turning radius” is the turning radius of the rear end portion of the upper turning body 2 including the work machine 1.
  • the “front minimum turning radius” is the minimum turning radius in front of the upper turning body 2.
  • the “full width of the lower traveling body” is the entire width of the lower traveling body 3 in the vehicle width direction of the lower traveling body 3.
  • the counterweight 5 is defined to have a predetermined relationship with the turning radius of the upper swing body 2.
  • the excavator 100 scoops the earth and sand with the bucket 11, and turns the upper swing body 2 in a state where the boom 13 is moved up to the upper end position of the movable range of the boom 13 to be in the standing posture.
  • the earth and sand in the bucket 11 is discharged to, for example, a loading platform of a dump truck.
  • the excavator 100 can turn the upper swing body 2 in a small space. Further, since the distance between the operator of the cab 8 and the bucket 11 is reduced, the operator can easily confirm the state of the bucket 11.
  • the posture of the work machine 1 that moves the boom 13 to the upper end position of the movable range and moves the arm 12 close to the boom 13 as shown in FIG. 2 is appropriately referred to as a small turning posture. .
  • FIG. 3 is a side view schematically showing the excavator 100 according to the present embodiment.
  • the excavator 100 includes a detection device 10 that detects the attitude of the work implement 1, an operation device 40 for operating the work implement 1, and a control device 50 that controls the work implement 1. ing.
  • the posture of the work machine 1 includes the angle of the work machine 1.
  • the detection device 10 detects the angle of the work machine 1.
  • the control device 50 includes a computer system.
  • the control device 50 includes a processor such as a CPU (central processing unit), a storage device such as a ROM (read only memory) or a RAM (random access memory), and an input / output interface device.
  • a processor such as a CPU (central processing unit)
  • a storage device such as a ROM (read only memory) or a RAM (random access memory)
  • an input / output interface device such as a CPU (central processing unit)
  • ROM read only memory
  • RAM random access memory
  • the detection apparatus 10 includes a bucket attitude detector 14 that detects an angle ⁇ 11 of the bucket 11 centered on the central axis AX1, an arm attitude detector 15 that detects an angle ⁇ 12 of the arm 12 centered on the central axis AX2, And a boom attitude detector 16 that detects an angle ⁇ 13 of the boom 13 about the axis AX3.
  • the bucket attitude detector 14 is a bucket cylinder stroke sensor disposed in the bucket cylinder 21.
  • the bucket cylinder stroke sensor detects a bucket cylinder length that is the stroke length of the bucket cylinder 21.
  • a detection signal from the bucket attitude detector 14 is output to the control device 50.
  • the control device 50 calculates the angle ⁇ 11 of the bucket 11 with respect to the arm 12 based on the bucket cylinder length detected by the bucket attitude detector 14.
  • the angle ⁇ 11 of the bucket 11 and the bucket cylinder length of the bucket cylinder 21 are correlated.
  • the correlation data between the angle ⁇ 11 of the bucket 11 and the bucket cylinder length is known data.
  • the control device 50 calculates the angle ⁇ 11 of the bucket 11 based on the bucket cylinder length of the bucket cylinder 21 detected by the bucket attitude detector 14 and the correlation data.
  • the arm posture detector 15 is an arm cylinder stroke sensor disposed in the arm cylinder 22.
  • the angle ⁇ 12 of the arm 12 is calculated by a calculation procedure similar to the calculation procedure of the angle ⁇ 11 of the bucket 11.
  • the boom posture detector 16 is a boom cylinder stroke sensor disposed in the boom cylinder 23.
  • the angle ⁇ 13 of the boom 13 is calculated by the same calculation procedure as the calculation procedure of the angle ⁇ 11 of the bucket 11.
  • control device 50 calculates the cylinder speed of the hydraulic cylinder 20 based on the detection signal of the detection device 10.
  • the control device 50 performs arithmetic processing based on the detection signal of the bucket attitude detector 14 and calculates the cylinder speed of the bucket cylinder 21.
  • the control device 50 performs a calculation process based on the detection signal of the arm posture detector 15 to calculate the cylinder speed of the arm cylinder 22.
  • the control device 50 performs arithmetic processing based on the detection signal of the boom posture detector 16 and calculates the cylinder speed of the boom cylinder 23.
  • each attitude detector 14, 15, 16 including a cylinder stroke sensor functions as an angle sensor, a stroke sensor, and a cylinder speed sensor.
  • the detection device 10 may include an angle sensor such as a potentiometer.
  • the angle sensor may detect the angle ⁇ 11 of the bucket 11, the angle ⁇ 12 of the arm 12, and the angle ⁇ 13 of the boom 13, and the angular velocity of the bucket 11, the angular velocity of the arm 12, and the angular velocity of the boom 13 may be detected. Also good.
  • the excavator 100 may be provided with a GPS antenna that acquires the position of the upper swing body 2 or an IMU that detects the inclination of the upper swing body 2.
  • GPS Global Positioning System
  • IMU Inertial Measurement Unit
  • IMU Inertial Measurement Unit
  • the operating device 40 is disposed in the cab 8.
  • the operating device 40 includes left and right operating members that are operated by an operator of the excavator 100.
  • the operation member includes an operation lever or a joystick.
  • the work implement 1 is operated by operating the operation member.
  • the operating device 40 operates the hydraulic cylinder 20.
  • the work machine 1 is operated.
  • the dumping operation of the bucket 11, the excavating operation of the bucket 11, the dumping operation of the arm 12, the excavating operation of the arm 12, the raising operation of the boom 13, and the lowering operation of the boom 13 are executed. .
  • the operating device 40 includes a right operating lever disposed on the right side of an operator seated in the driver's seat of the cab 8 and a left operating lever disposed on the left side.
  • the boom 13 When the right operation lever is moved in the front-rear direction, the boom 13 performs a lowering operation and a raising operation.
  • the bucket 11 When the right operation lever is moved in the left-right direction (vehicle width direction), the bucket 11 performs excavation operation and dump operation.
  • the left operating lever is moved in the front-rear direction, the arm 12 performs a dumping operation and an excavating operation.
  • the left operating lever is moved in the left-right direction, the upper swing body 2 turns left and right. Even if the upper swing body 2 turns right and left when the left operation lever is moved in the front-rear direction, and the arm 12 performs dumping operation and excavation operation when the left operation lever is moved left and right. Good.
  • the bucket 11 and the arm 12 are driven based on the operation of the operation device 40 by the operator.
  • the boom 13 is driven based on at least one of the operation of the operation device 40 by the operator and the control by the control device 50.
  • the hydraulic cylinder 20 including the bucket cylinder 21, the arm cylinder 22, and the boom cylinder 23 is operated by a hydraulic system 300.
  • the hydraulic cylinder 20 is operated by the operating device 40.
  • the operation device 40 is a pilot hydraulic operation device.
  • the oil supplied to the hydraulic cylinder 20 for operating the hydraulic cylinder 20 (the bucket cylinder 21, the arm cylinder 22, and the boom cylinder 23) is appropriately referred to as hydraulic oil.
  • the direction control valve 41 adjusts the amount of hydraulic oil supplied to the hydraulic cylinder 20.
  • the direction control valve 41 is operated by the supplied oil.
  • the oil supplied to the direction control valve 41 for operating the direction control valve 41 is appropriately referred to as pilot oil.
  • the pressure of the pilot oil is appropriately referred to as pilot oil pressure.
  • FIG. 4 is a schematic diagram illustrating an example of a hydraulic system 300 that operates the boom cylinder 23.
  • the boom 13 By operating the operating device 40, the boom 13 performs two types of operations, a raising operation and a lowering operation.
  • a raising operation When the boom cylinder 23 is extended, the boom 13 is raised, and when the boom cylinder 23 is contracted, the boom 13 is lowered.
  • the hydraulic system 300 that operates the boom cylinder 23 includes a directional control valve 41, a variable capacity main hydraulic pump 42 that supplies hydraulic oil to the boom cylinder 23 via the directional control valve 41, A pilot hydraulic pump 43 that supplies pilot oil, an operating device 40 that adjusts the pilot hydraulic pressure for the direction control valve 41, oil passages 44A and 44B through which pilot oil flows, and control valves 45A disposed in the oil passages 44A and 44B, 45B, pressure sensors 46A and 46B disposed in the oil passages 44A and 44B, and a control device 50 that controls the control valves 45A and 45B.
  • the main hydraulic pump 42 is driven by a prime mover such as an engine (not shown).
  • the direction control valve 41 has a first pressure receiving chamber and a second pressure receiving chamber (not shown).
  • the spool is driven by the pilot oil pressure in the oil passage 44A, the first pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the first pressure receiving chamber.
  • the spool is driven by the pilot oil pressure in the oil passage 44B, the second pressure receiving chamber is connected to the main hydraulic pump 42, and hydraulic oil is supplied to the second pressure receiving chamber.
  • the direction control valve 41 controls the direction in which hydraulic oil flows.
  • the hydraulic oil supplied from the main hydraulic pump 42 is supplied to the boom cylinder 23 via the direction control valve 41.
  • the direction control valve 41 is a spool system that moves the rod-shaped spool to switch the direction in which the hydraulic oil flows. As the spool moves in the axial direction, the supply of hydraulic oil to the cap side oil chamber 20A (oil passage 47B) of the boom cylinder 23 and the supply of hydraulic oil to the rod side oil chamber 20B (oil passage 47A) are switched.
  • the hydraulic oil is supplied to the first pressure receiving chamber, the hydraulic oil is supplied to the rod side oil chamber 20B via the oil passage 47A and the boom cylinder 23 is contracted, so that the boom 13 is lowered.
  • the hydraulic oil is supplied to the second pressure receiving chamber, the hydraulic oil is supplied to the cap-side oil chamber 20A via the oil passage 47B and the boom cylinder 23 extends, so that the boom 13 is raised.
  • the cap side oil chamber 20A is a space between the cylinder head cover and the piston.
  • the rod side oil chamber 20B is a space in which the piston rod is disposed. Further, the amount of hydraulic oil supplied to the boom cylinder 23 (the amount supplied per unit time) is adjusted by moving the spool in the axial direction. The cylinder speed is adjusted by adjusting the amount of hydraulic oil supplied to the boom cylinder 23.
  • the direction control valve 41 is operated by the operating device 40.
  • the pilot oil sent from the pilot hydraulic pump 43 is supplied to the operating device 40.
  • pilot oil sent from the main hydraulic pump 42 and decompressed by the pressure reducing valve may be supplied to the operating device 40.
  • the operating device 40 includes a pilot hydraulic pressure adjustment valve.
  • the pilot hydraulic pressure is adjusted based on the operation amount of the operating device 40.
  • pilot hydraulic pressure corresponding to the operation amount of the operation device 40 acts on the direction control valve 41.
  • the direction control valve 41 is driven by the pilot hydraulic pressure.
  • the spool of the direction control valve 41 moves according to the pilot hydraulic pressure.
  • the amount of hydraulic oil supplied per unit time supplied from the main hydraulic pump 42 to the boom cylinder 23 via the direction control valve 41 is adjusted.
  • the pilot oil pressure by the operating device 40 the moving amount and moving speed of the spool in the axial direction are adjusted.
  • the pilot hydraulic pressure corresponding to the operating amount of the operating lever acts on the first pressure receiving chamber of the spool of the direction control valve 41.
  • the pilot hydraulic pressure corresponding to the operating amount of the operating lever acts on the second pressure receiving chamber of the spool of the direction control valve 41.
  • the pressure sensor 46A detects the pilot hydraulic pressure in the oil passage 44A.
  • the pressure sensor 46B detects the pilot oil pressure in the oil passage 44B. Detection signals from the pressure sensors 46A and 46B are output to the control device 50.
  • Control valves 45A and 45B are electromagnetic proportional control valves. Control valves 45 ⁇ / b> A and 45 ⁇ / b> B adjust the pilot hydraulic pressure based on a command signal from control device 50. The control valve 45A adjusts the pilot hydraulic pressure in the oil passage 44A. The control valve 45B adjusts the pilot hydraulic pressure in the oil passage 44B.
  • the control device 50 can control the control valve 45A to reduce the pilot hydraulic pressure acting on the first pressure receiving chamber.
  • the control device 50 can control the control valve 45B to adjust the pilot oil pressure acting on the second pressure receiving chamber to a reduced pressure.
  • pilot oil supplied to the direction control valve 41 is limited by reducing the pilot oil pressure adjusted by the operation of the operating device 40 by the control valve 45A.
  • the pilot hydraulic pressure acting on the direction control valve 41 is reduced by the control valve 45A, so that the lowering operation of the boom 13 is limited.
  • the pilot oil pressure adjusted by the operation of the operating device 40 is reduced by the control valve 45B, whereby the pilot oil supplied to the direction control valve 41 is limited.
  • the pilot hydraulic pressure acting on the direction control valve 41 is reduced by the control valve 45B, whereby the raising operation of the boom 13 is limited.
  • the control device 50 controls the control valve 45A based on the detection signal of the pressure sensor 46A.
  • the control device 50 controls the control valve 45B based on the detection signal of the pressure sensor 46B.
  • the hydraulic system 300 that operates the arm cylinder 22 and the bucket cylinder 21 has the same configuration as the hydraulic system 300 that operates the boom cylinder 23.
  • the operation of the operation device 40 causes the arm 12 to perform two types of operations, an excavation operation and a dump operation.
  • the arm cylinder 22 When the arm cylinder 22 is extended, the arm 12 is excavated, and when the arm cylinder 22 is contracted, the arm 12 is dumped.
  • the bucket 11 By the operation of the operation device 40, the bucket 11 performs two types of operations, an excavation operation and a dump operation.
  • the bucket cylinder 21 extends, the bucket 11 excavates, and when the bucket cylinder 21 contracts, the bucket 11 dumps.
  • a detailed description of the hydraulic system 300 that operates the arm cylinder 22 and the bucket cylinder 21 is omitted.
  • FIG. 5 is a functional block diagram illustrating an example of the control system 200 according to the present embodiment.
  • the control system 200 includes a control device 50 that controls the work machine 1 and a detection device that detects the stroke length of the hydraulic cylinder 20 to detect the angle of the work machine 1 and the cylinder stroke of the hydraulic cylinder 20. 10, a pressure sensor 46 (46A, 46B) for detecting the pilot oil pressure of the oil passage 44 (44A, 44B), and a control valve 45 (45A, 45B) capable of adjusting the amount of hydraulic oil supplied to the hydraulic cylinder 20.
  • the control device 50 includes an operation signal acquisition unit 51 that acquires an operation signal output from the pressure sensor 46 when the operation device 40 is operated, and a stop of the movable range of the work implement 1 based on the detection signal of the detection device 10. Based on the calculation unit 52 that determines whether or not the work implement 1 is stopped at the position, and the angle of the work implement 1 that is stopped at the stop position of the movable range of the work implement 1 and a predetermined threshold value, A setting section 53 that sets the deceleration rate of the work implement 1 in the deceleration zone and the deceleration zone including the end position of the movable range, and the work implement 1 moves from the stop position to the end location based on the deceleration zone and the deceleration rate.
  • the control unit 54 outputs a command signal to the control valve 45, the storage unit 61 stores various data, and the input / output unit 62.
  • the operation signal acquisition unit 51 acquires an operation signal output from the pressure sensor 46 when the operation device 40 is operated.
  • the operation signal acquisition unit 51 can recognize the timing when the operation lever of the operation device 40 is operated so that the boom 13 is raised from the neutral position by acquiring the operation signal.
  • the fact that the operating lever of the operating device 40 in which the detection of the pressure sensor 46 is smaller than the predetermined value of substantially zero is in the neutral position means that the boom 13 (boom cylinder 23) is in a stopped state. Therefore, the operation signal acquisition unit 51 can recognize the timing when the boom 13 starts the raising operation from the stopped state by acquiring the operation signal.
  • the operation lever is provided with an angle detection sensor such as a potentiometer, and the operation signal acquisition unit 51 acquires the detection value as an operation signal.
  • the calculation unit 52 performs calculation processing based on the detection signal of the detection device 10.
  • the calculation unit 52 calculates the angles ⁇ 11, ⁇ 12, and ⁇ 13 based on the detection signals of the posture detectors 14, 15, and 16 of the detection device 10, the cylinder speed of the bucket cylinder 21, the cylinder speed of the arm cylinder 22, And the cylinder speed of the boom cylinder 23 is calculated.
  • the calculation unit 52 can determine whether or not the work implement 1 is stopped within the movable range of the work implement 1.
  • the setting unit 53 sets the deceleration rate of the work machine 1.
  • the setting unit 53 sets the deceleration rate of the boom 13.
  • the deceleration rate is the ratio of the deceleration speed of the boom 13 when the maximum speed at which the boom 13 can move is 100%.
  • the deceleration rate of the boom 13 is the deceleration speed of the boom 13 based on the maximum possible speed of the boom 13.
  • the moving speed of the boom 13 and the cylinder speed of the boom cylinder 23 are proportional.
  • the deceleration rate of the boom cylinder 23 refers to the ratio of the cylinder speed of the boom cylinder 23 when the maximum value of the cylinder speed of the boom cylinder 23 (hereinafter referred to as the maximum cylinder speed) is 100 [%].
  • the deceleration rate of the boom cylinder 23 is the cylinder speed of the boom cylinder 23 based on the maximum cylinder speed of the boom cylinder 23.
  • the setting unit 53 sets the deceleration zone of the boom 13 in the movable range of the boom 13 and the deceleration rate of the boom 13 in the deceleration zone.
  • the deceleration section of the boom 13 is a section including the upper end position of the movable range of the boom 13. As described with reference to FIG. 2, the boom 13 may be moved up to the upper end position of the movable range of the boom 13 to be in a small turning posture.
  • the setting unit 53 sets a deceleration zone in which the boom 13 is decelerated immediately before the upper end position when the boom 13 moves up and moves to the upper end position of the movable range.
  • the setting part 53 sets the deceleration rate of the boom 13 in a deceleration area.
  • the deceleration rate of the boom 13 in the deceleration zone includes the movement speed condition (movement velocity distribution, movement velocity profile) of the boom 13 in the deceleration zone.
  • the movable range of the boom 13 is equivalent to the movable range of the boom cylinder 23 and corresponds one-to-one.
  • the boom 13 when the boom cylinder 23 is extended most, the boom 13 is arranged at the upper end position of the movable range.
  • the end position of the boom cylinder 23 when the boom cylinder 23 is most extended and the boom 13 is disposed at the upper end position of the movable range is appropriately referred to as a cylinder stroke end.
  • the position (stroke length) of the boom cylinder 23 from the cylinder stroke end is appropriately referred to as a cylinder stroke.
  • the cylinder stroke means the boom cylinder length described above, and is detected by the boom posture detector 16 of the detection device 10.
  • the setting unit 53 sets the deceleration zone of the boom cylinder 23 in the movable range of the boom cylinder 23 and the deceleration rate of the boom cylinder 23 in the deceleration zone.
  • the deceleration zone of the boom cylinder 23 is a zone including the cylinder stroke end of the movable range of the boom cylinder 23.
  • the setting unit 53 sets a deceleration zone for decelerating the boom cylinder 23 immediately before the cylinder stroke end when the boom cylinder 23 moves to the cylinder stroke end.
  • the setting part 53 sets the deceleration rate of the boom cylinder 23 in a deceleration area.
  • the deceleration rate of the boom cylinder 23 in the deceleration section includes the cylinder speed conditions (cylinder speed distribution, cylinder speed profile) of the boom cylinder 23 in the deceleration section.
  • the boom posture detector 10 detects the cylinder stroke (stroke length) of the boom cylinder 23, the angle ⁇ 13 of the boom 13 is detected, and the cylinder speed including the deceleration rate of the boom cylinder 23, and By setting the movable range including the deceleration zone of the boom cylinder 23, the moving speed including the deceleration rate of the boom 13 and the movable range including the deceleration zone of the boom 13 are set.
  • the cylinder stroke, the deceleration rate, the cylinder speed, the deceleration zone, and the movable range of the boom cylinder 23 can be read as the angle ⁇ 13, the deceleration rate, the angular velocity, the deceleration zone, the movable range, and the like of the boom 13.
  • FIG. 6 is a diagram illustrating an example of a deceleration zone and a deceleration rate set by the setting unit 53.
  • the setting unit 53 sets table data indicating the relationship between the cylinder stroke from the cylinder stroke end and the deceleration rate of the boom cylinder 23.
  • the horizontal axis indicates the cylinder stroke from the cylinder stroke end
  • the vertical axis indicates the deceleration rate of the boom cylinder 23.
  • the cylinder stroke When the cylinder stroke is 0 [mm], it means that the boom cylinder 23 is most extended and located at the cylinder stroke end (the boom 13 is located at the upper end position).
  • a larger cylinder stroke value means that the boom cylinder 23 is contracted and located at a position away from the cylinder stroke end (the boom 13 is located at a position in the lowering direction).
  • the deceleration zone includes the cylinder stroke end, and the cylinder stroke is set to a zone from 0 [mm] to the first deceleration distance.
  • the deceleration section includes a first deceleration section that decelerates the cylinder speed of the boom cylinder 23 with a preset deceleration (negative acceleration), and a boom cylinder up to the cylinder stroke end with a constant minimum deceleration rate (minimum cylinder speed). 2nd deceleration area to which 23 is moved.
  • the cylinder stroke is set to a zone from the second deceleration distance to the first deceleration distance.
  • a plurality of deceleration rates may be set in the first deceleration zone.
  • the second deceleration zone is set to a zone from the cylinder stroke from 0 [mm] to the second deceleration distance.
  • the first deceleration distance is a cylinder stroke having a value larger than the second deceleration distance.
  • the data indicating the relationship between the cylinder stroke from the cylinder stroke end and the deceleration rate set by the setting unit 53 as described with reference to FIG. 6 is stored in the storage unit 61.
  • the data indicating the cylinder speed deceleration condition described with reference to FIG. 6 is appropriately referred to as speed limit data.
  • a line Lr indicates speed limit data.
  • the speed limit data Lr shown in FIG. 6 is an example.
  • the control unit 54 outputs a command signal to the control valve 45B so that the boom cylinder 23 moves to the cylinder stroke end based on the deceleration zone and the deceleration rate set by the setting unit 53.
  • the control unit 54 outputs a command signal to the control valve 45B based on the deceleration rate (limit speed) of the limit speed data in the deceleration zone where the cylinder speed of the boom cylinder 23 based on the operation of the operating device 40 is.
  • the speed limit data Lr is generated so as to limit the cylinder speed of the boom cylinder 23 within the first deceleration distance.
  • lines Ld ⁇ b> 1 and Ld ⁇ b> 2 indicate the cylinder speed of the boom cylinder 23 based on the operation of the operating device 40.
  • a line Ld1 indicates the cylinder speed when the operation signal output from the pressure sensor 46 indicates the maximum value when the operating device 40 is operated, and a line Ld2 indicates the pressure sensor 46 when the operating device 40 is operated.
  • the cylinder speed when the operation signal output from the motor indicates an intermediate value between the maximum value and the minimum value is shown. That is, the line Ld1 indicates the cylinder speed when the operation device 40 is operated as a so-called full lever, and the line Ld2 indicates the cylinder speed when the operation device 40 is operated as a half lever.
  • the command signal Ya1 is output from the control unit 54 to the control valve 45B. Until the cylinder stroke reaches the first deceleration distance, the command signal Ya1 is output based on the operation of the operating device 40. When the cylinder stroke is closer to the stroke end than the first deceleration distance, the command signal Ya1 is output based on the speed limit data Lr. As described above, when the command signal Ya1 is output from the control unit 54 to the control valve 45B on the cylinder stroke side with respect to the first deceleration distance, the control valve 45B is operated based on the command signal Ya1 from the control unit 54. The pilot hydraulic pressure adjusted by the operation of 40 is reduced.
  • the pilot oil supplied to the direction control valve 41 of the boom cylinder 23 is limited.
  • the pilot hydraulic pressure acting on the direction control valve 41 is reduced by the control valve 45B, whereby the cylinder speed of the boom cylinder 23 in the raising operation of the boom 13 is limited.
  • the controller 52 outputs a command signal to the control valve 45B so that the boom cylinder 23 moves according to the deceleration rate (limit speed) of the limit speed data.
  • the boom cylinder 23 moves with the cylinder speed profile shown by the line Ld1, and the shock when reaching the cylinder stroke end is alleviated.
  • a command signal Ya2 is output from the control unit 54 to the control valve 45B.
  • the command signal Ya2 is output based on the operation of the operating device 40.
  • the command signal Ya2 is output based on the speed limit data Lr.
  • the control valve 45B is operated based on the command signal Ya2 from the control unit 54. The pilot hydraulic pressure adjusted by the operation of 40 is reduced.
  • the pilot oil supplied to the direction control valve 41 of the boom cylinder 23 is limited.
  • the pilot hydraulic pressure acting on the direction control valve 41 is reduced by the control valve 45B, whereby the cylinder speed of the boom cylinder 23 in the raising operation of the boom 13 is limited.
  • the controller 52 outputs a command signal to the control valve 45B so that the boom cylinder 23 moves according to the deceleration rate (limit speed) of the limit speed data.
  • the boom cylinder 23 moves with the cylinder speed profile shown by the line Ld1, and the shock when reaching the cylinder stroke end is alleviated.
  • the operator operates the operating device 40 so that the boom cylinder 23 moves from the cylinder stroke end to a position near the first deceleration distance. Then, once the operation lever of the operation device 40 is returned to the neutral position to stop the movement of the boom cylinder 23, and then the operation of the operation device 40 is resumed so that the boom cylinder 23 moves to the vicinity of the cylinder stroke end. There is.
  • the operation device 40 is operated to start the movement of the boom cylinder 23 that has been stopped at the position of the first deceleration distance from the cylinder stroke end, the boom cylinder 23 moves to the cylinder stroke end based on the operation of the operation device 40.
  • a command signal is output to the control valve 45 at a position close to the cylinder stroke end (for example, near the first deceleration distance).
  • the pilot hydraulic pressure is reduced based on the operation of the operating device 40 by the control valve 45B. Is not in time, and there is a high possibility that the cylinder speed of the boom cylinder 23 is not sufficiently reduced. As a result, the boom cylinder 23 reaches the cylinder stroke end at a high cylinder speed. As a result, the shock when reaching the cylinder stroke end is increased.
  • the boom cylinder 23 may be temporarily stopped at a position where the distance from the cylinder stroke end is short (for example, near the second deceleration distance from the cylinder stroke end). The That is, the operator operates the operating device 40 so that the boom cylinder 23 moves from the cylinder stroke end to the vicinity of the second deceleration distance, and then returns the operating lever of the operating device 40 to the neutral position to move the boom cylinder 23. After that, the operation of the operating device 40 may be resumed so that the boom cylinder 23 moves to the cylinder stroke end.
  • the control unit 50 When the operation device 40 is operated to start the movement of the boom cylinder 23 that has been stopped near the second deceleration distance from the cylinder stroke end, the boom that is stopped at the stop position at the second deceleration distance from the cylinder stroke end.
  • the control unit 50 outputs a command signal to the control valve 45B based on the command of the minimum deceleration rate in the second deceleration zone. Therefore, even if the boom cylinder 23 accelerates from the stop position, the cylinder speed is sufficiently low. Even if the pilot oil pressure is not reduced by the control valve 45B, the cylinder speed of the boom cylinder 23 when reaching the cylinder stroke end is low.
  • the setting unit 53 is configured so that the boom 13 in the deceleration zone and the deceleration zone is based on the angle ⁇ 13 of the boom 13 that is stopped at the stop position of the movable range of the boom 13 and a predetermined threshold value. Set the deceleration rate.
  • the setting unit 53 performs the restriction as described with reference to FIG. 6 based on the cylinder stroke from the cylinder stroke end when the boom cylinder 23 is stopped and a predetermined threshold value. At least a part of the speed data Lr is changed.
  • the change of the speed limit data includes one or both of expanding the deceleration section and increasing the minimum deceleration rate.
  • FIG. 7 is a flowchart showing a control method of the excavator 100 according to the present embodiment.
  • 8 and 9 are diagrams illustrating threshold values related to the cylinder stroke according to the present embodiment.
  • 10 and 11 are diagrams illustrating examples of changed speed limit data.
  • the boom attitude detector 16 detects the cylinder stroke of the boom cylinder 23.
  • the calculating part 52 acquires the detection signal of the boom posture detector 16 (step S10).
  • the calculation unit 52 calculates the cylinder stroke of the boom cylinder 23 from the cylinder stroke end based on the detection signal of the boom posture detector 16. Since the maximum stroke of the boom cylinder 23 is known, the calculation unit 52 calculates the cylinder stroke from the cylinder stroke end based on the cylinder stroke derived from the detection signal of the boom posture detector 16 and the maximum stroke ( Step S20).
  • the calculation unit 52 calculates the angle of the boom 13 and the cylinder speed of the boom cylinder 23 based on the detection signal of the boom posture detector 16.
  • the computing unit 52 can determine whether or not the boom 13 and the boom cylinder 23 are stopped based on the detection signal of the boom posture detector 16.
  • the boom 13 and the boom cylinder 23 stop at the stop position in the movable range.
  • the pressure sensor 46 detects an operation signal.
  • the operation signal detected by the pressure sensor 46 is acquired by the operation signal acquisition unit 51 (step S30).
  • the calculation unit 52 determines whether or not the boom cylinder 23 has started to move based on the operation signal detected by the pressure sensor 46 (step S35). When it is determined in step S35 that the boom cylinder 23 has started moving (step S35: Yes), the calculation unit 52 detects the operation signal by the pressure sensor 46 and the operation signal acquisition unit 51 acquires the operation signal. Is determined as the point in time when the boom cylinder 23 in the stopped state starts to move. In addition, the calculation unit 52 outputs the operation signal from the pressure sensor 46 and the position of the boom cylinder 23 when the operation signal acquisition unit 51 acquires the operation signal is the position where the driving of the boom cylinder 23 is started, that is, the movement starts. Determine as position.
  • the calculation unit 52 determines the cylinder stroke from the cylinder stroke end when the driving of the boom cylinder 23 is started, that is, when the boom cylinder 23 starts to move.
  • the cylinder stroke at the time when the boom cylinder 23 starts to move is calculated by the calculation unit 52 as a cylinder stroke from the cylinder stroke end at the start of movement, and stored in the storage unit 61 (step S40). If it is determined in step S35 that the boom cylinder 23 has not started moving (step S35: No), the process proceeds to step S50.
  • the movement start position indicated by the cylinder stroke from the cylinder stroke end at the start of movement is equivalent to the stop position of the boom cylinder 23 that was in a stopped state within the movable range. Further, the cylinder stroke from the cylinder stroke end at the start of movement has a one-to-one correspondence with the angle ⁇ 13 of the boom 13 in the stopped state at the stop position of the movable range.
  • the setting unit 53 compares the cylinder stroke from the cylinder stroke end at the start of movement with a predetermined threshold value.
  • the threshold value indicates a threshold value for the cylinder stroke from the cylinder stroke end when the movement starts.
  • Threshold data indicating the threshold value is stored in the storage unit 61.
  • the threshold includes a first threshold and a second threshold that is smaller than the first threshold.
  • the first threshold is a threshold for expansion of the deceleration zone. When the cylinder stroke is less than or equal to the first threshold, the deceleration zone is expanded.
  • the second threshold is a threshold for increasing the minimum deceleration rate. If the cylinder stroke is less than or equal to the second threshold, the minimum deceleration rate is increased.
  • FIG. 8 is a diagram showing the first threshold data including the first threshold.
  • the horizontal axis indicates the cylinder stroke from the cylinder stroke end when the movement starts, and the vertical axis indicates the gain.
  • the first threshold value for the cylinder stroke from the cylinder stroke end at the start of movement is set as table data.
  • the gain is a magnification for enlarging the deceleration zone.
  • the gain is 1 when the cylinder stroke is greater than the first threshold. That is, when the cylinder stroke is larger than the first threshold, the deceleration zone is not enlarged or reduced, and the deceleration zone of the speed limit data is maintained.
  • the gain is greater than 1.
  • the gain gradually increases from 1, and the cylinder stroke at the start of movement.
  • the gain can be set to an arbitrary value. Note that an offset may be given without giving a gain.
  • FIG. 9 is a diagram showing second threshold data including the second threshold.
  • the horizontal axis indicates the cylinder stroke from the cylinder stroke end when the movement starts
  • the vertical axis indicates the offset amount of the minimum deceleration rate.
  • the second threshold value for the cylinder stroke from the cylinder stroke end at the start of movement is set as table data.
  • the offset amount is an increase amount when the minimum deceleration rate is increased.
  • the offset amount is zero. That is, when the cylinder stroke is larger than the second threshold, the minimum deceleration rate is neither increased nor decreased, and the minimum deceleration rate of the speed limit data is maintained.
  • the offset amount when the cylinder stroke is equal to or smaller than the second threshold value, the offset amount is larger than zero.
  • the offset amount in the third predetermined range in which the cylinder stroke from the cylinder stroke end at the start of movement includes the second threshold and is smaller than the second threshold, the offset amount gradually increases from 0, and the cylinder stroke at the start of movement.
  • the offset amount in the fourth predetermined range in which the cylinder stroke from the end includes 0 [mm] and is larger than 0 [mm], the offset amount can be set to an arbitrary value.
  • the minimum deceleration rate of the speed limit data is increased according to the offset amount.
  • the setting unit 53 determines whether or not the cylinder stroke from the cylinder stroke end at the start of movement is equal to or less than the first threshold value (step S50).
  • step S50 when it is determined that the cylinder stroke from the cylinder stroke end at the start of movement is larger than the first threshold (step S50: No), the speed limit data is not changed (step S70).
  • the control unit 54 outputs a control signal to the control valve 45B so that the boom cylinder 23 is not restricted according to the speed limit data (step S100). For example, the boom cylinder 23 moves as indicated by the arrow Ya2 in FIG.
  • step S50 when it is determined that the cylinder stroke from the cylinder stroke end at the start of movement is equal to or less than the first threshold (step S50: Yes), the setting unit 53 expands the deceleration section of the speed limit data (step S55). ). The setting unit 53 expands the deceleration section of the speed limit data according to the gain described with reference to FIG.
  • the setting unit 53 determines whether or not the cylinder stroke from the cylinder stroke end at the start of movement is equal to or less than the second threshold value (step S60).
  • step S30 When it is determined in step S30 that the cylinder stroke from the cylinder stroke end at the start of movement is larger than the second threshold value (step S60: No), that is, the cylinder stroke from the cylinder stroke end at the start of movement is greater than the second threshold value. If it is determined that the value is not greater than the first threshold value, the control unit 54 outputs a control signal to the control valve 45B (step S100).
  • FIG. 10 (A) shows the speed limit data in which the deceleration section is expanded
  • FIG. 10 (B) is a time chart when the deceleration section is expanded
  • FIG. 10A shows an example in which the cylinder stroke (movement start position) from the cylinder stroke end at the start of movement is larger than the first deceleration distance. The movement start position is equivalent to the stop position.
  • the speed limit data having an enlarged deceleration section with respect to the speed reduction section of the speed limit data Lr. Lr1 is set.
  • the deceleration section of the speed limit data Lr includes a first deceleration section that decelerates at a preset deceleration, and a second deceleration section that moves the boom cylinder 23 to the cylinder stroke end at a constant minimum deceleration rate. ,including.
  • the setting unit 53 expands the deceleration section by expanding the first deceleration section and the second deceleration section.
  • the speed limit data Lr includes an inflection point P1 and an end point P2, and a straight line connecting the inflection point P1 and the end point P2.
  • the setting unit 53 multiplies the cylinder stroke values at the inflection point P1 and the end point P2 by gain, respectively, to obtain the inflection point P1a and the end point P2a, and connects the inflection point P1a and the end point P2a with a straight line. Lr1 is set.
  • the control unit 54 outputs a command signal to the control valve 45B so that the boom cylinder 23 moves according to the speed limit data Lr1 in which the deceleration section is expanded (step S100).
  • a line Ld3 indicates the cylinder speed of the boom cylinder 23 based on the operation of the operating device 40.
  • the control unit 54 outputs a command signal to the control valve 45B according to the deceleration rate of the speed limit data.
  • the control valve 45B operates so as to limit the cylinder speed of the boom cylinder 23 in the raising operation of the boom 13 based on a command signal from the control unit 54.
  • the first deceleration zone is shifted away from the cylinder stroke end, and the timing at which the boom cylinder 23 starts decelerating based on the command signal from the control unit 54 is advanced. Therefore, the cylinder speed of the boom cylinder 23 can be sufficiently reduced.
  • the boom cylinder 23 moves according to the cylinder speed profile indicated by the line Ld3 in FIG. 10A, and reaches the stroke end at the time T4 shown in FIG. 10B. Shock is reduced when the cylinder stroke end is reached.
  • FIG. 10A shows a cylinder speed profile according to the comparative example, and a dotted line in FIG. 10B shows a timing chart according to the comparative example.
  • the deceleration zone is not enlarged, the boom cylinder 23 does not stop at time T4, and the shock when reaching the stroke end is not alleviated.
  • step S60 when it is determined in step S60 that the cylinder stroke from the cylinder stroke end at the start of movement is equal to or smaller than the second threshold (step S60: Yes), the setting unit 53 increases the minimum deceleration rate (Ste S90).
  • the setting unit 53 increases the minimum deceleration rate of the speed limit data according to the offset amount described with reference to FIG.
  • FIG. 11A shows speed limit data in which the minimum deceleration rate is increased
  • FIG. 11B is a time chart when the minimum deceleration rate is expanded.
  • FIG. 11A shows an example in which the cylinder stroke (movement start position) from the cylinder stroke end at the start of movement is substantially the second deceleration distance.
  • the minimum offset positively by a predetermined amount with respect to the minimum deceleration rate of the speed limit data Lr.
  • Speed limit data Lr2 having a deceleration rate is set.
  • the control unit 54 outputs a command signal to the control valve 54 so that the boom cylinder 23 moves according to the speed limit data Lr2 in which the minimum deceleration rate is increased (step S100).
  • a line Ld4 indicates the cylinder speed of the boom cylinder 23 based on the operation of the operating device 40.
  • the boom cylinder 23 starts to move from the position where the cylinder stroke starts based on the operation of the operation device 40.
  • the cylinder speed of the boom cylinder 23 based on the operation of the operating device 40 changes, for example, as indicated by a line Ld4 in FIG.
  • the boom cylinder 23 in a stopped state at a stop position at a predetermined distance from the cylinder stroke end accelerates toward the cylinder stroke end based on the operation of the operation device 40, and at the position Pd4, which is an extremely short position from the cylinder stroke end, the operation device 40.
  • the cylinder speed of the boom cylinder 23 based on this operation increases from the deceleration rate of the second deceleration zone, and the cylinder stroke 23 is accelerated by the operation of the operation device 40.
  • the boom cylinder 23 moves with a cylinder speed profile indicated by a line Ld4 in FIG.
  • the cylinder speed of the boom cylinder 23 is not excessively limited, and the boom cylinder 23 does not move unnecessarily slowly.
  • FIG. 11A shows a cylinder speed profile according to the comparative example, and a dotted line in FIG. 11B shows a timing chart according to the comparative example.
  • the minimum deceleration rate is not increased, and the boom cylinder 23 moves unnecessarily slowly.
  • the control unit 54 when outputting a control signal to the control valve 45B, determines the limit value of the cylinder speed based on the maximum cylinder speed and the deceleration rate obtained from the limit speed data.
  • the storage unit 61 stores table data indicating the relationship between the spool stroke of the direction control valve 41 and the cylinder speed, and the control unit 54 determines the spool stroke based on the table data and the determined cylinder speed. Calculate the limit value.
  • the storage unit 61 stores table data indicating the relationship between the spool stroke and the pressure (PPC pressure) of the oil passage 44 through which the pilot oil flows, and the control unit 54 stores the table data and the calculated spool stroke. Based on the above, the limit value of the PPC pressure is calculated.
  • the storage unit 61 stores table data indicating the relationship between the PPC pressure and the current to be supplied to the control valve 45 to obtain the PPC pressure, and the control unit 54 calculates the table data. A current limit value is calculated based on the PPC pressure. These table data are known data derived by experiments or simulations performed in advance.
  • the control unit 54 outputs a current to the control valve 45 as a command signal. Thereby, the direction control valve 41 is driven so that the boom cylinder 23 moves at the determined cylinder speed.
  • the lever flag indicates the timing at which the operation device 40 is operated in the operation signal acquisition unit 51 based on the detection of the pressure sensor 46.
  • an operation signal (flag signal) is output from the operation signal output unit 49.
  • the lever flag is not output.
  • the cylinder speed is the cylinder speed of the boom cylinder 23 detected by the boom posture detector 16.
  • the cylinder stroke is the distance of the boom cylinder 23 from the cylinder stroke end.
  • the deceleration rate is a speed limit (target speed) of the cylinder speed of the boom cylinder 23 based on the maximum cylinder speed.
  • the cylinder stroke at the time of starting is the distance of the boom cylinder 23 from the cylinder stroke end when the boom cylinder 23 in the stopped state starts to move.
  • the gain is a magnification for enlarging the deceleration zone.
  • the offset amount is an increase amount of the minimum deceleration rate.
  • the operating device 40 is operated, at time T2, the operation of the operating device 40 is stopped, and at time T3, the operation of the operating device 40 is resumed.
  • the boom cylinder 23 stops when the cylinder speed is 0 [mm / s].
  • the time point T1 when the operation signal is output from the operation signal output unit 49 is when the boom cylinder 23 starts to move.
  • the cylinder stroke at the time point T1 is determined as the cylinder stroke from the cylinder stroke end at the start of movement, and is stored in the storage unit 61.
  • the cylinder stroke from the cylinder stroke end at the start of movement (time point T3) is a value close to the first threshold value.
  • the cylinder stroke from the cylinder stroke end at the start of movement is It is a value close to 2 threshold values.
  • the movement start position which is the cylinder stroke from the cylinder stroke end at the time of movement start (time point T3), is compared with the first threshold value and the second threshold value.
  • the movement start position is smaller than the first threshold value. Therefore, the gain is set to a value larger than 1. Note that the movement start position is larger than the second threshold value. Therefore, the offset amount is not set.
  • the deceleration rate indicated by the dotted line Da indicates the deceleration rate when the deceleration zone and the minimum deceleration rate are not changed (based on the deceleration table Lr) regardless of the cylinder stroke from the cylinder stroke end at the start of movement.
  • the deceleration rate indicated by the solid line Sa indicates the deceleration rate when the deceleration zone is enlarged.
  • the solid line Sa (based on the deceleration table Lr1), the deceleration section is enlarged, so that the deceleration timing is advanced with respect to the deceleration rate without changing the deceleration section, and the cylinder speed becomes Pd at time T4, and the deceleration table Lr1 Deceleration by is started.
  • the first threshold value and the second threshold value are set, and the cylinder stroke (movement start position) from the cylinder stroke end at the start of movement (time point T3) is compared with the first threshold value and the second threshold value.
  • the movement start position is smaller than the first threshold and smaller than the second threshold. Therefore, the variable gain is set to a value larger than 1, and the offset is set to a predetermined amount because it becomes smaller than the second threshold value at time T3.
  • the deceleration rate indicated by the dotted line Da indicates the deceleration rate when the deceleration zone and the minimum deceleration rate are not changed regardless of the cylinder stroke from the cylinder stroke end at the start of movement.
  • the deceleration rate indicated by the solid line Sa indicates the deceleration rate when the deceleration zone is expanded and the minimum deceleration rate is increased. As indicated by the solid line Sa, the deceleration zone is expanded and the minimum deceleration rate is increased, so that the timing of deceleration is advanced, and excessive reduction of the deceleration rate at the start of movement again (time point T3) is suppressed.
  • the movable range is based on the stop angle ⁇ 13 (cylinder stroke) and the predetermined threshold value at the stop position of the movable range of the boom 13 (boom cylinder 23).
  • the deceleration rate of the boom 13 in the deceleration zone and the deceleration zone including the upper end position (cylinder stroke end) is set, and the boom 13 (boom cylinder 23) is moved from the stop position to the upper end based on the set deceleration zone and deceleration rate.
  • a command signal is output to the control valve 45B so as to move to the part position (cylinder stroke end).
  • the movable range of the boom cylinder 23 in between includes the cylinder stroke from the cylinder stroke end at the start of movement and includes an acceleration section that moves while accelerating at least in part based on the operation of the operation device 40, and a cylinder stroke end. And a deceleration section that moves while decelerating based on the command signal output from 54.
  • the boom cylinder 23 (boom 13) is operated based on the operation of the operation device 40, so that the cylinder speed of the boom cylinder 23 (the movement speed of the boom 13) is suppressed from being unnecessarily slowed. Therefore, a decrease in work efficiency is suppressed. Further, in the deceleration zone, the boom cylinder 23 (boom 13) decelerates based on the control of the control unit 54, so that a shock is generated when the boom cylinder 23 reaches the cylinder stroke end and the boom 13 reaches the upper end position. Alleviated.
  • the deceleration section is expanded. Therefore, even when the movement starts again from the stopped state, the shock when the boom cylinder 23 reaches the cylinder stroke end and the boom 13 reaches the upper end position is alleviated.
  • the deceleration section includes a first deceleration section that decelerates at a preset deceleration, a second deceleration section that moves to the cylinder stroke end (upper end position) at a constant minimum deceleration rate, and
  • the setting unit 53 expands the deceleration zone by expanding the second deceleration zone without changing the first deceleration zone.
  • the cylinder stroke of the boom cylinder 23 in the stopped state (the angle ⁇ 13 of the boom 13) is equal to or smaller than the second threshold value that is smaller than the first threshold value
  • the minimum deceleration rate is increased. Therefore, in the vicinity of the cylinder stroke end (upper end position), the boom cylinder 23 (boom 13) is prevented from moving unnecessarily at a low speed, and a reduction in work efficiency is suppressed.
  • the work machine 100 is the hydraulic excavator 100.
  • the control device 50 and the control method described in the above-described embodiment can be applied to all work machines having a work machine in addition to the hydraulic excavator 100.
  • the moving speed of the boom 13 is limited in the vicinity of the upper end position when the boom 13 is raised. Even if the movement speed of the boom 13 is limited in the vicinity of the position of the lower end when the boom 13 is lowered, the movement speed may be limited in the vicinity of the stroke end of the arm.
  • hydraulic excavator 100 described in the above-described embodiment is not limited to the small rear turning excavator.

Abstract

　La machine de construction selon l'invention comprend : un vérin hydraulique qui entraîne la machine de construction à l'intérieur d'une plage d'évolution ; un dispositif de détection qui détecte l'orientation de la machine de construction ; une unité de détection de signal opérationnel qui détecte un signal opérationnel lorsque la machine de construction est utilisée ; une soupape de commande qui peut réguler la quantité d'huile hydraulique fournie au vérin hydraulique ; un processeur qui détermine si la machine de construction se déplace à la position d'arrêt dans la plage d'évolution, d'après le signal opérationnel détecté par l'unité de détection de signal opérationnel ; une unité de réglage qui, d'après des valeurs de seuil prédéterminées et l'orientation d'une machine de construction dans un état arrêté à la position d'arrêt, règle une section de décélération comprenant une position de bord de la plage d'évolution, et le taux de décélération de la machine de construction dans la section de décélération ; et une unité de commande qui émet un signal de commande de sorte que la machine de construction se déplace de la position d'arrêt à la position de bord, d'après la section de décélération et le taux de décélération.
PCT/JP2015/082632 2015-11-19 2015-11-19 Machine de construction, et procédé de commande de machine de construction WO2016056678A1 (fr)

Priority Applications (6)

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US15/102,648 US9834908B2 (en) 2015-11-19 2015-11-19 Work machine and control method for work machine
DE112015000238.3T DE112015000238B4 (de) 2015-11-19 2015-11-19 Arbeitsmaschine und Steuerverfahren für Arbeitsmaschine
JP2016510862A JP6001808B2 (ja) 2015-11-19 2015-11-19 作業機械及び作業機械の制御方法
CN201580003299.9A CN105874131B (zh) 2015-11-19 2015-11-19 作业机械以及作业机械的控制方法
PCT/JP2015/082632 WO2016056678A1 (fr) 2015-11-19 2015-11-19 Machine de construction, et procédé de commande de machine de construction
KR1020167015052A KR101855970B1 (ko) 2015-11-19 2015-11-19 작업 기계 및 작업 기계의 제어 방법

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JP (1) JP6001808B2 (fr)
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JP2020029716A (ja) * 2018-08-23 2020-02-27 株式会社神戸製鋼所 掘削作業機械の油圧駆動装置
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KR20170059427A (ko) 2017-05-30
JPWO2016056678A1 (ja) 2017-04-27
JP6001808B2 (ja) 2016-10-05
DE112015000238T5 (de) 2016-09-15
CN105874131B (zh) 2017-11-14
KR101855970B1 (ko) 2018-05-09
CN105874131A (zh) 2016-08-17
DE112015000238B4 (de) 2020-09-24
US20170145662A1 (en) 2017-05-25

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